四足机器人足端复合轨迹运动特性研究  

Motion characteristics of quadrupedal robot foot composite trajectory

作　　者：齐晓宇 王赫莹[1,2] 郭忠峰[1,2] QI Xiaoyu;WANG Heying;GUO Zhongfeng

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]沈阳工业大学辽宁省智能制造与工业机器人重点实验室,辽宁沈阳110870

出　　处：《现代机械》2022年第3期1-8,共8页Modern Machinery

基　　金：辽宁省教育厅项目(LJKZ0114)。

摘　　要：为提高四足机器人的运动平稳性和地形适应能力,使其顺利通过复杂崎岖地面,提出了一种四足机器人分段复合足端轨迹规划方法,将足端轨迹规划分为起步、跨步、落地三个部分。针对机器人足端在起步阶段碰撞未知不规则凸台、跨步阶段越障效率低及足端落地适应地形问题进行了足端轨迹曲线优化设计。在仿真环境下,通过虚拟模型控制方法控制机器人以对角步态分别在平地环境、复杂崎岖地形环境下运动,仿真结果表明,四足机器人以设计的足端轨迹在复杂崎岖地形上运动具有更小的机身波动和方向偏移,可在一定程度上适应崎岖地形,抵御运动环境中未知障碍干扰。In order to improve the stability and adaptability of the quadrupedal robot, a method of segmentally planning the robot foot composite trajectory is proposed.The trajectory planning is divided into three parts: starting, steping, and landing.The trajectory planning curve is optimized aiming at the problems of the robot foot colliding with unknown irregular bulges at the starting stage, the low obstacle crossing efficiency at the steping stage, and the foot adapting to the terrain at the landing stage.In the simulated environment, the robot is controlled by virtual model control method to move on the flat ground and the complex and rugged terrain with trot gait.The simulation results show that with the designed trajectory, the quadrupedal robot has smaller body fluctuations and offsets on the complex and rugged terrain.It is proved that the quadrupedal robot can adapt to the rugged terrain to a certain extent, and can resist the interference of wunknown obstacles in the environment.

关 键 词：四足机器人 足端轨迹规划 虚拟模型控制 对角步态 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]